kusano kiyoshige / Mbed 2 deprecated 17robo_tokyo_kaede

sampleProgram

Dependencies:   QEI accelerator bit_test cyclic_io cyclic_var cylinder event_var limit mbed mecanum motor_drive pid pid_encoder rs422_put sbdbt servo

Fork of 17robo_fuzi by kusano kiyoshige

main.cpp@21:6568c3587003, 2017-08-05 (annotated)

Committer:
echo_piyo
Date:
Sat Aug 05 00:44:10 2017 +0000
Revision:
21:6568c3587003
Parent:
20:347daec6c9a3
Child:
23:aeff5fd36ae1
(?)?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
echo_piyo 0:bf96e953cdb8 1 #include "mbed.h"
echo_piyo 4:a6cc2f03e69b 2 #include "math.h"
echo_piyo 0:bf96e953cdb8 3 #include "bit_test.h"
echo_piyo 0:bf96e953cdb8 4 #include "RS422_put.h"
echo_piyo 0:bf96e953cdb8 5 #include "sbdbt.h"
echo_piyo 0:bf96e953cdb8 6 #include "mecanum.h"
echo_piyo 0:bf96e953cdb8 7 #include "bno055_lib.h"
echo_piyo 0:bf96e953cdb8 8 #include "bno055_use.h"
echo_piyo 0:bf96e953cdb8 9 #include "pid.h"
echo_piyo 0:bf96e953cdb8 10 #include "limit.h"
echo_piyo 4:a6cc2f03e69b 11 #include "accelerator.h"
echo_piyo 10:04f2a82cfd89 12 #include "encorder.h"
echo_piyo 14:aac2f18f6779 13 #include "cyclic.h"
echo_piyo 14:aac2f18f6779 14 #include "cyclic_IO.h"
echo_piyo 15:0fdf483769bf 15 #include "cylinder.h"
echo_piyo 13:dfae731e239f 16 //#include "QEI.h"
echo_piyo 0:bf96e953cdb8 17
echo_piyo 0:bf96e953cdb8 18 #define pc_baud 460800
echo_piyo 0:bf96e953cdb8 19 #define sbdbt_tx p13
echo_piyo 0:bf96e953cdb8 20 #define sbdbt_rx p14
echo_piyo 0:bf96e953cdb8 21 #define sbdbt_baud 115200
echo_piyo 0:bf96e953cdb8 22 #define rs422_tx p28
echo_piyo 0:bf96e953cdb8 23 #define rs422_rx p27
echo_piyo 0:bf96e953cdb8 24 #define rs422_baud 115200
echo_piyo 3:9ef929639c4a 25 #define output_period 0.015
echo_piyo 17:5c4718c603dc 26 #define nucleo_num 4
echo_piyo 0:bf96e953cdb8 27 #define pi 3.141592
echo_piyo 0:bf96e953cdb8 28 #define n1_id 3
echo_piyo 0:bf96e953cdb8 29 #define n2_id 4
echo_piyo 10:04f2a82cfd89 30 #define n3_id 5
echo_piyo 14:aac2f18f6779 31 #define n4_id 6
echo_piyo 14:aac2f18f6779 32 #define n5_id 7
echo_piyo 5:6efda58ff71b 33 #define yaw_Kp 0.01
echo_piyo 5:6efda58ff71b 34 #define yaw_Ki 0.01
echo_piyo 5:6efda58ff71b 35 #define yaw_Kd 0.01
echo_piyo 10:04f2a82cfd89 36 #define acceleration 25
echo_piyo 10:04f2a82cfd89 37 #define pin_cylinder_on p17
echo_piyo 10:04f2a82cfd89 38 #define pin_cylinder_off p18
echo_piyo 13:dfae731e239f 39 #define pin_interrupt p23
echo_piyo 12:1fec80ae8a2c 40 #define encoder_A p25
echo_piyo 12:1fec80ae8a2c 41 #define encoder_B p26
echo_piyo 10:04f2a82cfd89 42 #define enc_Kp 0.01
echo_piyo 10:04f2a82cfd89 43 #define enc_Ki 0.01
echo_piyo 10:04f2a82cfd89 44 #define enc_Kd 0.01
echo_piyo 0:bf96e953cdb8 45
echo_piyo 13:dfae731e239f 46 DigitalOut led1(LED1);
echo_piyo 15:0fdf483769bf 47 //DigitalOut led2(LED2);
echo_piyo 15:0fdf483769bf 48 DigitalOut led3(LED3);
echo_piyo 15:0fdf483769bf 49 //DigitalOut led4(LED4);
echo_piyo 13:dfae731e239f 50 DigitalIn interrupt(pin_interrupt);
echo_piyo 0:bf96e953cdb8 51 Serial pc(USBTX,USBRX);
echo_piyo 0:bf96e953cdb8 52 RS422 rs422(rs422_tx, rs422_rx);
echo_piyo 0:bf96e953cdb8 53 Sbdbt sbdbt(sbdbt_tx, sbdbt_rx);
echo_piyo 0:bf96e953cdb8 54 Ticker output_timer;
echo_piyo 0:bf96e953cdb8 55 Mecanum mecanum;
echo_piyo 0:bf96e953cdb8 56 Bno055 bno055;
echo_piyo 2:d5b8f8e62923 57 Position_pid yaw_pid;
echo_piyo 4:a6cc2f03e69b 58 Accel v1;
echo_piyo 4:a6cc2f03e69b 59 Accel v2;
echo_piyo 4:a6cc2f03e69b 60 Accel v3;
echo_piyo 4:a6cc2f03e69b 61 Accel v4;
echo_piyo 15:0fdf483769bf 62 Cylinder cylinder(pin_cylinder_on,pin_cylinder_off);
echo_piyo 17:5c4718c603dc 63 Cyclic sword_left;
echo_piyo 20:347daec6c9a3 64 Cyclic sword_right;
echo_piyo 12:1fec80ae8a2c 65
echo_piyo 12:1fec80ae8a2c 66 //追加点
echo_piyo 13:dfae731e239f 67 Encoder enc_cylinder(encoder_A,encoder_B);
echo_piyo 13:dfae731e239f 68 //QEI wheel(encoder_A, encoder_B, NC, 624);
echo_piyo 9:6486f4b3ac50 69
echo_piyo 0:bf96e953cdb8 70 void setup();
echo_piyo 0:bf96e953cdb8 71 void output();
echo_piyo 15:0fdf483769bf 72 void motor_cal();
echo_piyo 16:e49df474e4c6 73 void cylinder_cal();
echo_piyo 10:04f2a82cfd89 74 void boost();
echo_piyo 12:1fec80ae8a2c 75 void cylinder_origin();
echo_piyo 17:5c4718c603dc 76 void sword_left_cal();
echo_piyo 21:6568c3587003 77 void sword_right_cal();
echo_piyo 2:d5b8f8e62923 78 float yaw, target_yaw;
echo_piyo 0:bf96e953cdb8 79
echo_piyo 21:6568c3587003 80
echo_piyo 0:bf96e953cdb8 81 int main()
echo_piyo 0:bf96e953cdb8 82 {
echo_piyo 0:bf96e953cdb8 83 setup();
echo_piyo 2:d5b8f8e62923 84 while(1) {
echo_piyo 17:5c4718c603dc 85 //pc.printf("Pulses is: %i\r\n",sbdbt.down);
echo_piyo 0:bf96e953cdb8 86 }
echo_piyo 0:bf96e953cdb8 87 }
echo_piyo 0:bf96e953cdb8 88
echo_piyo 0:bf96e953cdb8 89 void setup()
echo_piyo 0:bf96e953cdb8 90 {
echo_piyo 1:2d878962e6ea 91 wait(1);
echo_piyo 19:76a387e4bcf6 92 bno055.begin();
echo_piyo 0:bf96e953cdb8 93 wait(1);
echo_piyo 19:76a387e4bcf6 94 bno055.firstRead();
echo_piyo 0:bf96e953cdb8 95 pc.baud(pc_baud);
echo_piyo 0:bf96e953cdb8 96 sbdbt.begin(sbdbt_baud);
echo_piyo 0:bf96e953cdb8 97 rs422.begin(rs422_baud);
echo_piyo 19:76a387e4bcf6 98 cylinder_origin();
echo_piyo 0:bf96e953cdb8 99 output_timer.attach(&output, output_period);
echo_piyo 2:d5b8f8e62923 100 yaw_pid.setup(yaw_Kp, yaw_Ki, yaw_Kd);
echo_piyo 10:04f2a82cfd89 101 mecanum.setupdeg(bno055.getYawRad()+180.0);
echo_piyo 4:a6cc2f03e69b 102 v1.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 103 v2.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 104 v3.setup(acceleration,output_period);
echo_piyo 4:a6cc2f03e69b 105 v4.setup(acceleration,output_period);
echo_piyo 12:1fec80ae8a2c 106
echo_piyo 12:1fec80ae8a2c 107 //追加点
echo_piyo 13:dfae731e239f 108 enc_cylinder.setup(1200);
echo_piyo 13:dfae731e239f 109 enc_cylinder.set_parameter(enc_Kp,enc_Ki,enc_Kd);
echo_piyo 12:1fec80ae8a2c 110 }
echo_piyo 12:1fec80ae8a2c 111
echo_piyo 15:0fdf483769bf 112 void output()
echo_piyo 15:0fdf483769bf 113 {
echo_piyo 15:0fdf483769bf 114 motor_cal();
echo_piyo 16:e49df474e4c6 115 cylinder_cal();
echo_piyo 17:5c4718c603dc 116 sword_left_cal();
echo_piyo 21:6568c3587003 117 sword_right_cal();
echo_piyo 18:ae4d97945b83 118 //boost();
echo_piyo 15:0fdf483769bf 119
echo_piyo 15:0fdf483769bf 120 static int counter;
echo_piyo 17:5c4718c603dc 121 int id[nucleo_num] = {n1_id, n2_id, n3_id, n4_id};
echo_piyo 15:0fdf483769bf 122
echo_piyo 15:0fdf483769bf 123 switch (counter) {
echo_piyo 15:0fdf483769bf 124 case 0:
echo_piyo 15:0fdf483769bf 125 rs422.put(id[counter], v1.duty(mecanum.v1()), v3.duty(mecanum.v3()));
echo_piyo 15:0fdf483769bf 126 counter++;
echo_piyo 15:0fdf483769bf 127 break;
echo_piyo 15:0fdf483769bf 128 case 1:
echo_piyo 15:0fdf483769bf 129 rs422.put(id[counter], v2.duty(mecanum.v2()), v4.duty(mecanum.v4()));
echo_piyo 15:0fdf483769bf 130 counter ++;
echo_piyo 15:0fdf483769bf 131 break;
echo_piyo 15:0fdf483769bf 132 case 2:
echo_piyo 19:76a387e4bcf6 133 rs422.put(id[counter], sbdbt.right_y, 0.0);
echo_piyo 17:5c4718c603dc 134 counter ++;
echo_piyo 17:5c4718c603dc 135 break;
echo_piyo 17:5c4718c603dc 136 case 3:
echo_piyo 20:347daec6c9a3 137 rs422.put(id[counter], (sbdbt.sankaku*0.5-sbdbt.batu*0.5), ((float)sword_right.getState()));
echo_piyo 20:347daec6c9a3 138 counter ++;
echo_piyo 20:347daec6c9a3 139 break;
echo_piyo 20:347daec6c9a3 140 case 4:
echo_piyo 20:347daec6c9a3 141 rs422.put(id[counter], (sbdbt.up*0.5-sbdbt.down*0.5), ((float)sword_left.getState()));
echo_piyo 15:0fdf483769bf 142 counter = 0;
echo_piyo 15:0fdf483769bf 143 break;
echo_piyo 15:0fdf483769bf 144 default:
echo_piyo 15:0fdf483769bf 145 break;
echo_piyo 15:0fdf483769bf 146 };
echo_piyo 15:0fdf483769bf 147 }
echo_piyo 15:0fdf483769bf 148
echo_piyo 17:5c4718c603dc 149 void sword_left_cal(){
echo_piyo 20:347daec6c9a3 150 sword_left.cyclic(sbdbt.left);
echo_piyo 20:347daec6c9a3 151 }
echo_piyo 20:347daec6c9a3 152 void sword_right_cal(){
echo_piyo 20:347daec6c9a3 153 sword_right.cyclic(sbdbt.maru);
echo_piyo 17:5c4718c603dc 154 }
echo_piyo 15:0fdf483769bf 155
echo_piyo 12:1fec80ae8a2c 156 void cylinder_origin(){
echo_piyo 12:1fec80ae8a2c 157 while(interrupt){
echo_piyo 14:aac2f18f6779 158 led1 = 1;
echo_piyo 12:1fec80ae8a2c 159 rs422.put(5, -0.8, 0.0);
echo_piyo 12:1fec80ae8a2c 160 }
echo_piyo 14:aac2f18f6779 161 led1 = 0;
echo_piyo 0:bf96e953cdb8 162 }
echo_piyo 0:bf96e953cdb8 163
echo_piyo 19:76a387e4bcf6 164 void cylinder_cal()
echo_piyo 19:76a387e4bcf6 165 {
echo_piyo 20:347daec6c9a3 166 cylinder.cyclic(sbdbt.right);
echo_piyo 19:76a387e4bcf6 167 }
echo_piyo 19:76a387e4bcf6 168
echo_piyo 10:04f2a82cfd89 169 void boost(){
echo_piyo 10:04f2a82cfd89 170 if(sbdbt.sankaku) {
echo_piyo 10:04f2a82cfd89 171 mecanum.boost_forward();
echo_piyo 10:04f2a82cfd89 172 }
echo_piyo 10:04f2a82cfd89 173 if(sbdbt.batu) {
echo_piyo 10:04f2a82cfd89 174 mecanum.boost_back();
echo_piyo 10:04f2a82cfd89 175 }
echo_piyo 10:04f2a82cfd89 176 if(sbdbt.shikaku) {
echo_piyo 10:04f2a82cfd89 177 mecanum.boost_left();
echo_piyo 10:04f2a82cfd89 178 }
echo_piyo 10:04f2a82cfd89 179 if(sbdbt.maru) {
echo_piyo 10:04f2a82cfd89 180 mecanum.boost_right();
echo_piyo 10:04f2a82cfd89 181 }
echo_piyo 10:04f2a82cfd89 182 }
echo_piyo 10:04f2a82cfd89 183
echo_piyo 15:0fdf483769bf 184 void motor_cal()
echo_piyo 5:6efda58ff71b 185 {
echo_piyo 4:a6cc2f03e69b 186 yaw = bno055.getYawRad();
echo_piyo 4:a6cc2f03e69b 187 target_yaw = yaw;
echo_piyo 4:a6cc2f03e69b 188 yaw_pid.cal(target_yaw, yaw, output_period);
echo_piyo 4:a6cc2f03e69b 189 mecanum.sbdbt_cal(sbdbt.left_x, sbdbt.left_y, sbdbt.l1, sbdbt.r1, yaw_pid.duty(), bno055.getYawRad());
echo_piyo 5:6efda58ff71b 190 // pc.printf("%f\t data %f\t %f\t %f\t %f\t\r\n", bno055.getYawRad(), sbdbt.left_x, sbdbt.left_y, mecanum.VX(), mecanum.VY());
echo_piyo 14:aac2f18f6779 191 }